18.9.7 Ground Vehicle Based Structure, Depth, and Shape from Motion

Chapter Contents (Back)
Motion, Structure. Shape from Motion. Navigation. Often translation only.
See also Visual Odometry, Distance Measurments from Vision, Motion.

Dreschler, L., and Nagel, H.H.,
Volumetric Model and 3D Trajectory of a Moving Car from Monocular TV Frames Sequence of a Street Scene,
CGIP(20), No. 3, November 1982, pp. 199-228.
Elsevier DOI BibRef 8211
And: IJCAI81(692-697). Relaxation. Corner Detector. BibRef
Using 'Affinity' for Extracting Images of Moving Objects from TV-Frame Sequences,
Hamburg, Bericht 44, February 1978. Polyhedral approximation of 3D object, using a modification of Thompson's technique. Find feature points, track to the next image, generate triangular patches (basically connect the near points without crossing lines). BibRef

Dreschler, L., and Nagel, H.H.,
On the Selection of Critical Points and Local Curvature Extrema of Region Boundaries for Interframe Matching,
ISPDSA83(457-470). BibRef 8300

Westphal, H., and Nagel, H.H.,
Towards the Derivation of Three-Dimensional Descriptions from Image Sequences for Nonconvex Moving Objects,
CVGIP(34), No. 3, June 1986, pp. 302-320.
Elsevier DOI This extends the above paper from 1982, to incorporate concavities and surface markings. BibRef 8606

Westphal, H., and Nagel, H.H.,
Exploiting Reflectance Properties to Analyze Images of Moving Objects Needs Local Constraints,
CVGIP(38), No. 1, April 1987, pp. 90-98.
Elsevier DOI Some more analysis related to the two above papers to extend them to curved surfaces from polyhedral surfaces. BibRef 8704

Ibison, M.C., Zapalowski, L., Harris, C.G.,
Direct Surface Reconstruction from a Moving Sensor,
IVC(3), No. 4, November 1985, pp. 170-176.
Elsevier DOI BibRef 8511

Nagel, H.H.,
From Image Sequences Towards Conceptual Descriptions,
IVC(6), No. 2, May 1988, pp. 59-74.
Elsevier DOI BibRef 8805

Kollnig, H., Nagel, H.H., Otte, M.,
Association of Motion Verbs with Vehicle Movements Extracted from Dense Optical Flow Fields,
Springer DOI BibRef 9400

Koller, D., Heinze, H., and Nagel, H.H.,
Algorithmic Characterization of Vehicle Trajectories from Image Sequences by Motion Verbs,
IEEE DOI BibRef 9100

Suorsa, R.E., Sridhar, B.,
A Parallel Implementation of a Multisensor Feature-Based Range-Estimation Method,
RA(10), 1994, pp. 755-768. BibRef 9400
Earlier: CVPR93(379-385).
IEEE DOI Motion and structure from a sequence. BibRef

Soni, T., and Sridhar, B.,
Modelling Issues in Vision Based Aircraft Navigation During Landing,
IEEE Abstract. BibRef 9400

Smith, P.N., Sridhar, B., and Hussien, B.,
Vision-Based Range Estimation Using Helicopter Flight Data,
IEEE DOI You know the helicopter motion, derive the structure of the scene. BibRef 9200

Hung, Y.S., Ho, H.T.,
A Kalman Filter Approach to Direct Depth Estimation Incorporating Surface Structure,
PAMI(21), No. 6, June 1999, pp. 570-575.
IEEE DOI BibRef 9906
And: Errata:
Corrections to 'A Kalman Filter Approach to Direct Depth Estimation Incorporating Surface Structure',
PAMI(21), No. 10, October 1999, pp. 1101. Pixel based depth from motion. Applied to navigation problems. BibRef

Hu, Z.Z.[Zhao-Zheng], Tan, Z.[Zheng],
Depth recovery and affine reconstruction under camera pure translation,
PR(40), No. 10, October 2007, pp. 2826-2836.
Elsevier DOI 0707
Depth recovery, Affine reconstruction, Camera pure translation; Homography, Active vision BibRef

Ramachandran, M.[Mahesh], Veeraraghavan, A.[Ashok], Chellappa, R.[Rama],
A Fast Bilinear Structure from Motion Algorithm Using a Video Sequence and Inertial Sensors,
PAMI(33), No. 1, January 2011, pp. 186-193.
Fast Bilinear SfM with Side Information,
Use gravity (vertical) and height of the camera (i.e. from a vehicle mounted camera). Simplifies the SfM equations. BibRef

Kim, J.H.[Jae-Hak], Li, H.D.[Hong-Dong], Hartley, R.I.[Richard I.],
Motion Estimation for Nonoverlapping Multicamera Rigs: Linear Algebraic and L_infty Geometric Solutions,
PAMI(32), No. 6, June 2010, pp. 1044-1059.
Motion estimation for multi-camera systems using global optimization,
And: A2, A3, A1:
A linear approach to motion estimation using generalized camera models,
Egomotion from multicamera system for 2 positions. One linear solution, one geometric solution.
See also Motion from 3D Line Correspondences: Linear and Non-Linear Solutions. BibRef

Clipp, B.[Brian], Kim, J.H.[Jae-Hak], Frahm, J.M.[Jan-Michael], Pollefeys, M.[Marc], Hartley, R.I.[Richard I.],
Robust 6DOF Motion Estimation for Non-Overlapping, Multi-Camera Systems,

Zhang, K.X.[Kai-Xiang], Chen, J.[Jian], Li, Y.[Yang], Zhang, X.F.[Xin-Fang],
Visual Tracking and Depth Estimation of Mobile Robots Without Desired Velocity Information,
Cyber(50), No. 1, January 2020, pp. 361-373.
Mobile robots, Trajectory tracking, Visualization, Cameras, Estimation, Trajectory, Robot vision systems, Depth estimation, visual trajectory tracking BibRef

Choi, S.[Sunglok], Kim, J.H.[Jong-Hwan],
Fast and reliable minimal relative pose estimation under planar motion,
IVC(69), 2018, pp. 103-112.
Elsevier DOI 1802
Relative pose estimation, Planar motion, Epipolar geometry, Essential matrix, 2-point algorithm BibRef

Kim, J.H.[Jae-Hean], Choi, J.S.[Jin Sung],
Initial Closed-Form Solution to Mapping from Unknown Planar Motion of an Omni-directional Vision Sensor,
ISVC14(II: 609-619).
Springer DOI 1501

Klingner, B.[Bryan], Martin, D.[David], Roseborough, J.[James],
Street View Motion-from-Structure-from-Motion,
geometric computer vision. Generalized cameras, large scale images. Use relative pose along path. BibRef

Jacquet, B.[Bastien], Hane, C.[Christian], Koser, K.[Kevin], Pollefeys, M.[Marc],
Real-World Normal Map Capture for Nearly Flat Reflective Surfaces,
Surface normal map capture. Reflections of straight lines with moving camera. BibRef

Zhu, M.L.[Meng-Long], Ramalingam, S.[Srikumar], Taguchi, Y.[Yuichi], Garaas, T.[Tyler],
Monocular Visual Odometry and Dense 3D Reconstruction for On-Road Vehicles,
CVVT12(II: 596-606).
Springer DOI 1210

Zhou, H.Y.[Hui-Yu], Schaefer, G.[Gerald],
Effective and Efficient Tracking and Ego-Motion Recovery for Mobile Cameras,
Springer DOI 0912

Morita, T., Yasukawa, Y., Inamoto, Y., Uchiyama, T., and Kawakami, S.,
Measurement in Three Dimensions by Motion Stereo and Spherical Mapping,
IEEE DOI Map the image onto a sphere and translate the camera. This gives a point on a great circle and 3-D can be derived. BibRef 8900

Chang, Y.L., Aggarwal, J.K.,
Reconstructing 3D Lines from a Sequence of 2D Projections: Representation and Estimation,
IEEE DOI BibRef 9000

Chang, Y.L., and Aggarwal, J.K.,
3D Structure Reconstruction from an Ego Motion Sequence Using Statistical Estimation and Detection Theory,
Motion91(268-273). Predict features to detect then combine feature matches with motion estimation, high level control. BibRef 9100

Stephens, M.J., Blissett, R.J., Charnley, D., Sparks, E.P., and Pike, J.M.,
Outdoor Vehicle Navigation Using Passive 3D Vision,
IEEE DOI Basic structure from motion using matching edges and corners and triangulation. BibRef 8900

Chapter on Motion Analysis -- Low-Level, Image Level Analysis, Mosaic Generation, Super Resolution, Shape from Motion continues in
Matrix Factorization Approach to Motion and Structure .

Last update:Jun 1, 2023 at 10:05:03